Techniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation. Noise in both the sensor measurement and in the steering servo are accounted for. An optimal controller is simulated on a general purpose computer, and the resulting plots of vehicle path are presented. Parameters representing a small multipassenger tram were selected, and the simulation runs show response to an erroneous sensor measurement and acquisition following large initial path errors.

  • Availability:
  • Corporate Authors:

    Institute of Electrical and Electronics Engineers (IEEE)

    3 Park Avenue, 17th Floor
    New York, NY  United States  10016-5997
  • Authors:
    • Johnston, A R
    • Assefi, T
    • Lai, J Y
  • Publication Date: 1979-2

Media Info

Subject/Index Terms

Filing Info

  • Accession Number: 00196468
  • Record Type: Publication
  • Source Agency: Engineering Index
  • Files: TRIS
  • Created Date: Aug 15 1979 12:00AM